CN106652014A - Laser flying marking system with real-time three-dimensional modeling and method thereof - Google Patents

Abstract

A laser flight marking system with real-time three-dimensional modeling includes: a laser source for emitting laser light; a laser marking head having a galvanometer module for performing laser flying marking on a workpiece; a galvanometer control module for controlling the galvanometer module; a three-dimensional information capturing device for capturing three-dimensional information of the workpiece; the visual algorithm operation module is used for constructing a three-dimensional model of the workpiece and performing texture fitting; a carrying and moving device for carrying and moving the laser printing head and the three-dimensional information capturing device; a path planning module for calculating the path of the laser printing head and the three-dimensional information capturing device; and a controller for controlling the laser source, the galvanometer control module, the vision algorithm operation module and the path planning module.

Description

Real-time 3D Modeling Laser Flying Marking System and Method

technical field

The present invention relates to a laser flying marking system and its method, in particular to a real-time three-dimensional modeling laser flying marking system and its method.

Background technique

At present, the three-dimensional laser flying marking technology mainly reads the image model of the workpiece (such as CAD files, etc.) or obtains the complete three-dimensional model of the workpiece through three-dimensional modeling, and then obtains the read image model or through modeling The complete 3D model of the workpiece is partitioned, and the laser marking head is moved to each area to mark each area, but in other words, the existing technology has the following disadvantages: first, the image model or the complete 3D model of the workpiece needs to be obtained first, otherwise it will be It is impossible to carry out subsequent processing actions; moreover, for a small amount of and various processing situations, 3D modeling will take a lot of time; in addition, the method of marking in sub-blocks means that during the marking process, the laser marking head or the workpiece It needs to go through the process of moving, stopping and marking many times, so it is impossible to mark on the fly at one time, resulting in slow speed and relatively poor continuity in color and texture; and the current 3D laser flying marking is only for The workpieces with relatively simple curved surfaces are marked, such as cylindrical surfaces or spherical surfaces, but for more complex curved surfaces, there is still the problem of low marking accuracy.

In view of this, the present invention provides a laser flying marking system and its method, especially a real-time three-dimensional modeling laser flying marking system and its method.

Contents of the invention

In order to solve the problems of the above-mentioned prior art, the present invention provides a real-time three-dimensional modeling laser marking system on the fly, including: a laser source for emitting laser light; a laser marking head with a galvanometer module for Carry out laser flying marking on the workpiece; the galvanometer control module is electrically connected to the laser marking head to control the galvanometer module; the 3D information acquisition device is used to capture the 3D information of the workpiece; the vision algorithm The computing module is electrically connected to the 3D information capture device to construct the 3D model of the workpiece and perform texture bonding; the carrying mobile device is used to carry and move the 3D information capture device and the laser marking head; the path planning module The set is electrically connected to the carrying mobile device for calculating the path of the laser marking head and the three-dimensional information acquisition device; and the controller is electrically connected to the laser source, the vision algorithm module, the path planning module and the vibration The mirror control module is used to control the laser source, the visual algorithm module, the path planning module and the vibrating mirror control module.

In the real-time three-dimensional modeling laser marking system on the fly of the present invention, the carrying and moving device is any one of a robot arm or a machine tool.

In the real-time three-dimensional modeling laser marking system of the present invention, any one of the galvanometer control module, visual algorithm operation module or path planning module exists in the controller.

In the real-time three-dimensional modeling laser marking system of the present invention, the laser marking head and the vibrating mirror control module exist in the laser marking system; or the three-dimensional information acquisition device and the visual algorithm operation module It exists in the three-dimensional vision system; or the carrying mobile device and the path planning module exist in the carrying mobile system.

In the real-time three-dimensional modeling laser marking system of the present invention, the three-dimensional information acquisition device captures the three-dimensional information of the workpiece and the laser marking head marks the workpiece at the same time.

In the real-time three-dimensional modeling laser marking system of the present invention, the three-dimensional model of the workpiece constructed by the visual algorithm operation module adopts the method of partial modeling instead of complete modeling of the workpiece.

In the real-time three-dimensional modeling laser marking system of the present invention, the visual algorithm operation module adds the three-dimensional information of the local modeling to the texture pattern to be marked after the local modeling.

In the real-time 3D modeling laser marking system of the present invention, the visual algorithm operation module retains the new texture pattern with 3D information after the texture is pasted, instead of retaining the original 3D information.

In the real-time three-dimensional modeling laser marking system of the present invention, the path planning module will calculate the attitude of the laser marking head.

In the real-time three-dimensional modeling laser marking system of the present invention, its path planning module will calculate the displacement offset during laser marking on the fly.

In the real-time three-dimensional modeling laser marking system on the fly of the present invention, the laser marking on the fly means that the laser marking head moves in one direction relative to the surface of the workpiece, and the direction is constantly changing.

In the real-time three-dimensional modeling laser marking system of the present invention, the laser marking head performs laser marking on the fly after the three-dimensional information acquisition device captures the local three-dimensional information of the workpiece.

With the above-mentioned system, the present invention further provides a real-time three-dimensional modeling laser marking method on the fly, including: capturing the three-dimensional information of the workpiece; constructing the three-dimensional model of the workpiece and performing texture bonding; estimating the path and estimating Attitude; and according to the estimated path and attitude, carry out laser flying marking on the workpiece.

In the real-time three-dimensional modeling laser marking method of the present invention, the construction of the three-dimensional model of the workpiece and the texture bonding include the following steps: according to the captured three-dimensional information, construct a local three-dimensional model of the workpiece; The 3D information of the local 3D model is calculated; the texture pattern is added to the 3D information to obtain a new local 3D model; and the original local 3D model is deleted.

In the real-time three-dimensional modeling laser marking method of the present invention, the estimated path includes the following steps: calculating the normal vector, initial sliding direction and center point coordinates of the new local three-dimensional model; , the initial sliding direction and the coordinates of the center point to calculate the contour of the new local 3D model; and calculate the tangent vector of the contour at the coordinates of the center point.

In the real-time three-dimensional modeling laser marking method of the present invention, the estimated attitude includes the following steps: calculating the normal vector and the coordinates of the center point of the new local three-dimensional model; The direction vector and the coordinates of the center point are used to calculate the attitude.

In the real-time 3D modeling laser marking method of the present invention, the construction of the local 3D model of the workpiece and the laser marking of the workpiece are carried out simultaneously.

With the real-time three-dimensional modeling laser marking system and method of the present invention, no partition is required and modeling and marking are carried out simultaneously, which can greatly increase the marking speed and accuracy.

Description of drawings

Fig. 1 is the structural representation of the laser flying marking system of real-time three-dimensional modeling of the first embodiment of the present invention;

Fig. 2 is the structural representation of the laser flying marking system of real-time three-dimensional modeling of the second embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a laser marking system for real-time three-dimensional modeling according to a third embodiment of the present invention;

Fig. 4 is a structural schematic diagram of a laser marking system for real-time three-dimensional modeling according to a fourth embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a laser marking system for real-time three-dimensional modeling according to a fifth embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a laser marking system for real-time three-dimensional modeling according to the sixth embodiment of the present invention;

Fig. 7 is a structural schematic diagram of a laser marking system for real-time three-dimensional modeling according to the seventh embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a laser marking system for real-time three-dimensional modeling according to the eighth embodiment of the present invention;

Fig. 9 is a structural schematic diagram of a laser marking system for real-time three-dimensional modeling according to the ninth embodiment of the present invention;

Fig. 10 is a schematic structural diagram of a laser marking system for real-time three-dimensional modeling according to the tenth embodiment of the present invention;

Fig. 11 is a schematic structural diagram of a laser flying marking system for real-time three-dimensional modeling according to an eleventh embodiment of the present invention;

Fig. 12 is a schematic structural diagram of a laser marking system for real-time three-dimensional modeling according to a twelfth embodiment of the present invention;

Fig. 13 is a schematic structural diagram of a laser marking system for real-time three-dimensional modeling according to the thirteenth embodiment of the present invention;

Fig. 14 is a schematic structural diagram of a laser marking system for real-time three-dimensional modeling according to the fourteenth embodiment of the present invention;

Fig. 15 is a structural schematic diagram of a laser marking system for real-time three-dimensional modeling according to the fifteenth embodiment of the present invention;

Fig. 16 is a schematic flow chart of the instant three-dimensional modeling laser marking method on the fly of the present invention;

Fig. 17 is a schematic diagram of a four-dimensional array after texture bonding of the present invention;

Fig. 18 is a schematic diagram showing that the texture pattern of the present invention has directional continuity;

FIG. 19 is a schematic diagram of the estimated three-dimensional information capture device and the path of the laser marking head of the present invention;

FIG. 20 is a schematic diagram of estimating the attitude of the laser marking head in the present invention.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will be more apparent from the following description and claims. It should be noted that the drawings are all in a very simplified form and use imprecise ratios, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.

First, please refer to FIG. 1 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a first embodiment of the present invention. As shown in Figure 1, the present invention provides a laser marking system 10 for real-time three-dimensional modeling, including: a laser source 101; a laser marking head 102 with a galvanometer module; a galvanometer control module 103, Electrically connected to the laser marking head 102; 3D information capture device 104; visual algorithm computing module 105, electrically connected to the 3D information capture device 104; carrying mobile device 106; path planning module 107, electrically connected to the carrying mobile device 106; and the controller 108, electrically connected to the laser source 101, the galvanometer control module 103, the visual algorithm operation module 105 and the path planning module 107.

Please continue to refer to FIG. 2 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a second embodiment of the present invention. As shown in Figure 2, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking head 102 with a galvanometer module; a three-dimensional information acquisition device 104; carrying mobile device 106; controller 108, electrically connected to the laser source 101, which includes a galvanometer control module 103, a visual algorithm operation module 105 and a path planning module 107, wherein the galvanometer control module 103 is electrically connected to the laser marking head 102 ; the visual algorithm operation module 105 is electrically connected to the three-dimensional information capturing device 104 , and the path planning module 107 is electrically connected to the carrying mobile device 106 .

Please refer to FIG. 3 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a third embodiment of the present invention. As shown in Figure 3, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking head 102 with a galvanometer module; a three-dimensional information acquisition device 104; the visual algorithm computing module 105, electrically connected to the three-dimensional information acquisition device 104; carrying the mobile device 106; and the controller 108, electrically connected to the laser source 101 and the visual algorithm computing module 105, which includes The galvanometer control module 103 and the path planning module 107 , wherein the galvanometer control module 103 is electrically connected to the laser marking head 102 , and the path planning module 107 is electrically connected to the carrying mobile device 106 .

Please refer to FIG. 4 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a fourth embodiment of the present invention. As shown in Figure 4, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking head 102 with a galvanometer module; a galvanometer control module 103, electrically connected to the laser marking head 102; a three-dimensional information capture device 104; a carrying mobile device 106; and a controller 108, electrically connected to the laser source 101 and the vibrating mirror control module 103, which includes a vision algorithm The computing module 105 and the path planning module 107 , wherein the visual algorithm computing module 105 is electrically connected to the three-dimensional information capturing device 104 , and the path planning module 107 is electrically connected to the carrying mobile device 106 .

Please refer to FIG. 5 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a fifth embodiment of the present invention. As shown in Figure 5, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking head 102 with a galvanometer module; a three-dimensional information acquisition device 104; carrying mobile device 106; path planning module 107, electrically connected to carrying mobile device 106; and controller 108, electrically connected to laser source 101 and path planning module 107, which includes galvanometer control module 103 and a vision algorithm operation module 105 , wherein the galvanometer control module 103 is electrically connected to the laser marking head 102 , and the vision algorithm operation module 105 is electrically connected to the three-dimensional information acquisition device 104 .

Please refer to FIG. 6 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a sixth embodiment of the present invention. As shown in Figure 6, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking head 102 with a galvanometer module; a galvanometer control module 103, electrically connected to the laser marking head 102; three-dimensional information capture device 104; carrying mobile device 106; path planning module 107, electrically connected to the carrying mobile device 106; and controller 108, electrically connected to the laser The source 101 , the galvanometer control module 103 and the path planning module 107 include a vision algorithm operation module 105 , wherein the vision algorithm operation module 105 is electrically connected to the three-dimensional information acquisition device 104 .

Please refer to FIG. 7 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a seventh embodiment of the present invention. As shown in Figure 7, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking head 102 with a galvanometer module; a three-dimensional information acquisition device 104; the visual algorithm operation module 105, electrically connected to the three-dimensional information acquisition device 104; the carrying mobile device 106; the path planning module 107, electrically connected to the carrying mobile device 106; and the controller 108, electrically connected to the The laser source 101 , the visual algorithm operation module 105 and the path planning module 107 include a galvanometer control module 103 , wherein the galvanometer control module 103 is electrically connected to the laser marking head 102 .

Please refer to FIG. 8 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to an eighth embodiment of the present invention. As shown in Figure 8, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking head 102 with a galvanometer module; a galvanometer control module 103, electrically connected to the laser marking head 102; a three-dimensional information capture device 104; a visual algorithm computing module 105, electrically connected to the three-dimensional information capture device 104; a carrying mobile device 106; and a controller 108, electrically It is connected to the laser source 101 , the galvanometer control module 103 and the visual algorithm operation module 105 , and includes a path planning module 107 , wherein the path planning module 107 is electrically connected to the carrying mobile device 106 .

Please refer to FIG. 9 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a ninth embodiment of the present invention. As shown in Figure 9, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking system 109, which includes a laser marking head 102 and a vibrating mirror control Module 103, wherein the laser marking head 102 has a galvanometer module, and the galvanometer control module 103 is electrically connected to the laser marking head 102; a three-dimensional vision system 110, which includes a three-dimensional information acquisition device 104 and a vision algorithm Computing module 105, wherein the visual algorithm computing module 105 is electrically connected to the three-dimensional information acquisition device 104; carrying mobile system 111, which includes carrying mobile device 106 and path planning module 107, wherein the path planning module 107 and the controller 108 is electrically connected to the laser source 101 , the galvanometer control module 103 , the visual algorithm operation module 105 and the path planning module 107 .

Please refer to FIG. 10 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to the tenth embodiment of the present invention. As shown in Figure 10, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking head 102 with a galvanometer module; a carrying device 106; A three-dimensional vision system 110, which includes a three-dimensional information capture device 104 and a visual algorithm computing module 105, wherein the visual algorithm computing module 105 is electrically connected to the three-dimensional information capturing device 104; and a controller 108 is electrically connected To the laser source 101 and the visual algorithm operation module 105, which includes the galvanometer control module 103 and the path planning module 107, wherein the galvanometer control module 103 is electrically connected to the laser marking head 102, and the path planning module Group 107 is electrically connected to carrier mobile device 106 .

Please refer to FIG. 11 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to an eleventh embodiment of the present invention. As shown in Figure 11, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a three-dimensional information acquisition device 104; a carrying mobile device 106; a laser marking system 109 , which includes a laser marking head 102 and a vibrating mirror control module 103, wherein the laser marking head 102 has a vibrating mirror module, and the vibrating mirror control module 103 is electrically connected to the laser marking head 102; and a controller 108, Electrically connected to the laser source 101 and the galvanometer control module 103, which includes a vision algorithm operation module 105 and a path planning module 107, wherein the vision algorithm operation module 105 is electrically connected to the three-dimensional information acquisition device 104 , the path planning module 107 is electrically connected to the carrying mobile device 106 .

Please refer to FIG. 12 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a twelfth embodiment of the present invention. As shown in Figure 12, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking head 102 with a galvanometer module; a three-dimensional information acquisition device 104. The carrying mobile system 111 includes a carrying mobile device 106 and a path planning module 107, wherein the path planning module 107 is electrically connected to the carrying mobile device 106; and a controller 108 is electrically connected to the laser source 101 and the Path planning module 107, which includes a galvanometer control module 103 and a vision algorithm operation module 105, wherein the galvanometer control module 103 is electrically connected to the laser marking head 102, and the vision algorithm operation module 105 is electrically connected Link to the 3D information capture device 104 .

Please refer to FIG. 13 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a thirteenth embodiment of the present invention. As shown in Figure 13, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a three-dimensional information acquisition device 104; a laser marking system 109, which includes a laser The engraving head 102 and the galvanometer control module 103, wherein the laser engraving head 102 has a galvanometer module, and the galvanometer control module 103 is electrically connected to the laser engraving head 102; the carrying and moving system 111 includes a carrying and moving device 106 and a path planning module 107, wherein the path planning module 107 is electrically connected to the carrying mobile device 106; and the controller 108 is electrically connected to the laser source 101, the vibrating mirror control module 103 and the path planning module 107 , which includes a vision algorithm operation module 105 , wherein the vision algorithm operation module 105 is electrically connected to the three-dimensional information capture device 104 .

Please refer to FIG. 14 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a fourteenth embodiment of the present invention. As shown in Figure 14, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a laser marking head 102 with a galvanometer module; a three-dimensional vision system 110, It includes a three-dimensional information capture device 104 and a visual algorithm computing module 105, wherein the visual algorithm computing module 105 is electrically connected to the three-dimensional information capturing device 104; a carrying mobile system 111, which includes a carrying mobile device 106 and a path The planning module 107, wherein the path planning module 107 is electrically connected to the carrying mobile device 106; and the controller 108 is electrically connected to the laser source 101, the vision algorithm operation module 105 and the path planning module 107, which The vibrating mirror control module 103 is included, wherein the vibrating mirror control module 103 is electrically connected to the laser marking head 102 .

Please refer to FIG. 15 , which is a schematic structural diagram of a real-time three-dimensional modeling laser marking system on the fly according to a fifteenth embodiment of the present invention. As shown in Figure 15, the present invention further provides another real-time three-dimensional modeling laser marking system 10 on the fly, including: a laser source 101; a carrying mobile device 106; a laser marking system 109, which includes a laser marking head 102 and a galvanometer control module 103, wherein the laser marking head 102 has a galvanometer module, and the galvanometer control module 103 is electrically connected to the laser marking head 102; a three-dimensional vision system 110, which includes a three-dimensional information acquisition device 104 and a vision algorithm operation module 105, wherein the vision algorithm operation module 105 is electrically connected to the three-dimensional information acquisition device 104; and the controller 108 is electrically connected to the laser source 101 and the vibrating mirror control module 103 And the visual algorithm operation module 105, which includes a path planning module 107, wherein the path planning module 107 is electrically connected to the carrying mobile device 106.

As shown in Figures 1 to 15, in the real-time three-dimensional modeling laser flying marking system of the present invention, the laser source 101 is used to emit laser light; the laser marking head 102 is used to perform laser flying on the workpiece Marking; the galvanometer control module 103 is used to control the galvanometer module to make the laser marking head 102 mark on different positions on the workpiece; the three-dimensional information acquisition device 104 is used to capture the three-dimensional information of the workpiece; the carrying mobile device 106 , used to carry and move the laser marking head 102 and the three-dimensional information capturing device 104 .

As shown in Figures 1 to 15, in the real-time three-dimensional modeling laser flying marking system of the present invention, its visual algorithm operation module 105 is used to construct the three-dimensional model of the workpiece and perform texture bonding; in addition, the visual The algorithm operation module 105 constructs the 3D model of the workpiece in a partial modeling manner, without completely modeling the workpiece; the vision algorithm operation module 105 attaches the 3D information of the local modeling to the on the texture pattern to be marked; and the visual algorithm operation module 105 retains the new texture pattern with 3D information after the texture is pasted, without retaining the original 3D information.

As shown in Figures 1 to 15, in the real-time three-dimensional modeling laser marking system on the fly of the present invention, its path planning module 107 is used to calculate the path of the laser marking head 102 and the three-dimensional information acquisition device 104; In addition, the path planning module 107 can further calculate the attitude of the laser marking head 102 ; and the path planning module 107 can further calculate the displacement offset during laser flying marking.

As shown in Figures 1 to 15, in the real-time three-dimensional modeling laser flying marking system of the present invention, its controller 108 is used to control the laser source 101, the vibrating mirror control module 103, the visual algorithm operation module group 105 and path planning module 107.

As shown in FIG. 1 to FIG. 15 , in the real-time three-dimensional modeling laser marking system on the fly of the present invention, the carrying mobile device 106 is either a robot arm or a machine tool, but it is not limited thereto.

As shown in Figures 1 to 15, in the real-time three-dimensional modeling laser flying marking system of the present invention, the three-dimensional information acquisition device is a camera, a three-dimensional scanner or a device with the function of capturing three-dimensional information, etc., but Not limited by this.

As shown in Figures 2 to 15, in the real-time three-dimensional modeling laser flying marking system of the present invention, any one of the galvanometer control module, the visual algorithm operation module 105 and the path planning module 107 The above is present in the controller 108 .

As shown in Figures 9 to 15, in the real-time three-dimensional modeling laser marking system on the fly of the present invention, the laser marking head 102 and the vibrating mirror control module 103 exist in the laser marking system 109; or The 3D information capture device 104 and the vision algorithm operation module 105 exist in the 3D vision system 110 ; or the carrying mobile device 106 and the path planning module 107 exist in the carrying mobile system 111 .

As shown in Figures 1 to 15, in the real-time three-dimensional modeling laser marking system of the present invention, the three-dimensional information acquisition device captures the three-dimensional information of the workpiece and the laser marking head marks the workpiece at the same time.

In the real-time three-dimensional modeling laser marking system of the present invention, the laser flying marking means that the laser marking head 102 moves in a direction relative to the surface of the workpiece, and the direction changes constantly.

In the real-time 3D modeling laser marking system of the present invention, the laser marking head 102 performs laser flying marking after the 3D information capture device 104 captures the local 3D information of the workpiece.

Next, please refer to FIG. 1 to FIG. 16 at the same time. FIG. 16 is a schematic diagram of the real-time three-dimensional modeling laser marking method of the present invention. As shown in FIG. 16 , the present invention further provides a real-time three-dimensional modeling laser marking method on the fly, including the following steps: Step 201: start step, start the real-time three-dimensional modeling laser flying marking system 10; then, Step 202: The 3D information capture device 104 moves to the workpiece according to the estimated path, and captures the 3D information of the workpiece; then, Step 203: Constructs the 3D model of the workpiece and performs texture bonding; after the texture bonding, simultaneously Execute step 204: estimate the path of the laser marking head 102 and the three-dimensional information capture device 104, and step 205: estimate the attitude of the laser marking head 102; after that, step 206: the laser marking head 102 according to the estimated Path and attitude, laser marking on the workpiece; then, step 207: judge whether the marking is completed, if the marking is completed, then perform step 208: end the step, otherwise, if the marking is not completed, return to step 202 , continue with the steps above.

In the real-time 3D modeling laser marking method of the present invention, the construction of the 3D model of the workpiece and the laser marking of the workpiece are carried out simultaneously.

The steps of the laser marking method for real-time three-dimensional modeling will be described in detail below.

In the real-time three-dimensional modeling laser marking method of the present invention, step 203 includes the following steps: constructing a local three-dimensional model of the workpiece according to the captured three-dimensional information; estimating the three-dimensional information of the local three-dimensional model; adding The texture pattern is added to the 3D information to obtain a new partial 3D model; and after the new partial 3D model is obtained, the original partial 3D model is deleted.

Next, please refer to FIG. 17 and FIG. 18 . FIG. 17 is a schematic diagram of a four-dimensional array after texture bonding of the present invention; and FIG. 18 is a schematic diagram of a texture pattern of the present invention having directional continuity. As shown in FIG. 17 , in a Cartesian coordinate system with X-axis, Y-axis and Z-axis, the visual algorithm operation module 105 calculates the three-dimensional information x, y, z according to the constructed local three-dimensional model, By distributing the three-dimensional information x, y, z to each corresponding pixel (pixel) in the texture pattern, a new texture pattern with a four-dimensional array formed by the grayscale information G and the three-dimensional information x, y, z can be obtained, thus Get the new local 3D model, then, the system will not keep the original 3D local model, but directly access the new local 3D model with grayscale information G and 3D information x, y, z, so that you can know the new local Which voxels in the 3D model have been used, where a voxel refers to each point in the new local 3D model. It should be noted that the 3D information x, y, z are the actual distances relative to the origin, not the coordinates (index) of the array, where the origin is the 3D information x, y, z of the upper left corner of the new texture pattern The texture pattern to be attached has directional continuity, as shown in Figure 18, assumes that the texture pattern is a square texture pattern, and its texture is a leather texture, if the texture pattern has directional continuity, then on the workpiece Paste the first pattern O on the local three-dimensional model block, and then paste the second pattern L, U, D, R from the up, down, left, and right directions of the first pattern O, and paste the first pattern O and the second pattern L, U, There will be no fractures or discontinuous textures at the junction of D and R; and the fit of the texture pattern on the local 3D model is based on the area, for example, the size of the texture pattern is 10x10mm ² , but this is not the basis Therefore, it is necessary to find a block that can be placed in the texture pattern from the local 3D model.

In the real-time three-dimensional modeling laser marking method of the present invention, its step 204 includes the following steps: calculate the normal vector, initial sliding direction and center point coordinates of the new local three-dimensional model; and the coordinates of the center point to calculate the contour of the new local 3D model; and calculate the tangent vector of the contour at the coordinates of the center point, and the tangent vector is the next move of the 3D information capture device 104 and the laser marking head 102 path and direction.

Please refer to FIG. 19 , which is a schematic diagram of the estimated path of the 3D information capture device and the laser marking head of the present invention. As shown in Figure 19, the normal vector is obtained from the new local 3D model TM initial swipe direction and the coordinates of the center point x ₀ , use the normal vector initial swipe direction and the center point coordinate x ₀ to get the contour f(x ₀ ) on the new local 3D model TM, then, calculate the tangent vector of the contour f(x ₀ ) at the center point coordinate x ₀ while the tangent vector That is, the path and direction that the 3D information intercepting device 104 and the laser marking head 102 in the laser flying marking system 10 for real-time 3D modeling will move in the next step. It should be noted that the 3D information intercepting device 104 is arranged at the front to capture the local 3D model of the workpiece, while the laser marking head 102 is arranged behind the 3D information intercepting and dimensional information capturing device 104 to perform laser flying marking on the workpiece. The moving path of the target will move in a straight line in a certain direction until the detected information satisfies the path change condition, such as encountering the origin or no information can be detected.

In the real-time three-dimensional modeling laser marking method of the present invention, its step 205 includes the following steps: calculate the normal vector and center point coordinates of the new local three-dimensional model; and the reverse vector and center point according to the normal vector coordinates to calculate the attitude of the laser marking head 102 .

Please refer to FIG. 20 , which is a schematic diagram of estimating the attitude of the laser marking head of the present invention. As shown in Figure 20, the normal vector is obtained from the new local 3D model TM and the coordinates of the center point x ₀ , use the normal vector The reverse vector of and the coordinate x ₀ of the center point obtain the attitude of the laser marking head 102 .

Although the present invention has been disclosed above with the aforementioned preferred embodiments, it is not intended to limit the present invention. Any skilled person in the technical field may make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of patent protection of the present invention shall be defined by the appended claims of this specification.

Claims (17)

1. the laser marking on the fly system of a kind of instant three-dimensional modeling, it is characterised in that include:

Laser source, to launch laser light；

Laser imprint head, with galvanometer module, to carry out laser marking on the fly to workpiece；

Galvanometer controls module, the laser imprint head is electrically connected to, to control the galvanometer mould Group；

Three-dimensional information extraction device, to three dimensional informations for capturing the workpiece；

Vision algorithm computing module, is electrically connected to the three-dimensional information extraction device, to build The threedimensional model of workpiece described in structure simultaneously carries out texture laminating；

Mobile device is carried, to carry and move the three-dimensional information extraction device and the laser Imprint head；

Path planning module, is electrically connected to the carrying mobile device, to calculate the laser The path of imprint head and the three-dimensional information extraction device；And

Controller, is electrically connected to the laser source, the vision algorithm module, the path Planning module and galvanometer control module, to control the laser source, the vision algorithm Module, the path planning module and galvanometer control module.

2. the laser marking on the fly system of three-dimensional modeling immediately as claimed in claim 1, it is characterised in that institute It is mechanical arm or toolroom machine any of which to state carrying mobile device.

3. the laser marking on the fly system of three-dimensional modeling immediately as claimed in claim 1, it is characterised in that institute State galvanometer control module, the vision algorithm computing module or the path planning module wherein to appoint More than one is present in the controller.

4. the laser marking on the fly system of three-dimensional modeling immediately as claimed in claim 1, it is characterised in that institute Laser imprint head is stated with galvanometer control module is present in laser stamp mark system；Or it is described Three-dimensional information extraction device is to be present in three dimensional vision system with the vision algorithm computing module In；Or the carrying mobile device and the path planning module are to be present in carrying mobile system In.

5. the laser marking on the fly system of three-dimensional modeling immediately as claimed in claim 1, it is characterised in that institute Three dimensional information and the laser imprint head for stating the three-dimensional information extraction device acquisition workpiece is beaten It is running simultaneously to mark the workpiece.

6. the laser marking on the fly system of three-dimensional modeling immediately as claimed in claim 1, it is characterised in that institute The threedimensional model for stating workpiece described in vision algorithm computing module construction is the side for adopting locally fine point Formula, and the workpiece is not completely modeled.

7. the laser marking on the fly system of three-dimensional modeling immediately as claimed in claim 6, it is characterised in that institute Vision algorithm computing module is stated after the locally fine point, will the locally fine point described three Dimensional information is attached on the texture pattern for wanting mark.

8. the laser marking on the fly system of three-dimensional modeling immediately as claimed in claim 1, it is characterised in that institute Vision algorithm computing module is stated after texture laminating, retains the new line of tool three dimensional information Reason pattern, and do not retain original three dimensional information.

9. the laser marking on the fly system of three-dimensional modeling immediately as claimed in claim 1, it is characterised in that institute Stating path planning module can more calculate the attitude of the laser imprint head.

10. the laser marking on the fly system of three-dimensional modeling immediately as claimed in claim 1, it is characterised in that The path planning module can more calculate the displacement bias during laser marking on the fly.

The laser marking on the fly system of 11. three-dimensional modelings immediately as claimed in claim 1, it is characterised in that The laser marking on the fly refer to the laser imprint head relative to the workpiece surface towards a direction Move, and the direction can be continually changing.

The laser marking on the fly system of 12. three-dimensional modelings immediately as claimed in claim 1, it is characterised in that The three-dimensional information extraction device is described after three dimensional information of local of the workpiece is captured Laser imprint head just carries out the laser marking on the fly.

The laser marking on the fly method of 13. a kind of instant three-dimensional modelings, it is characterised in that comprise the following steps：

Capture three dimensional informations of workpiece；

The threedimensional model of workpiece described in construction simultaneously carries out texture laminating；

Estimation path and estimation attitude；And

According to the path and the attitude that estimate, laser marking on the fly is carried out to the workpiece.

The laser marking on the fly method of 14. three-dimensional modelings immediately as claimed in claim 13, it is characterised in that The threedimensional model of workpiece described in the construction simultaneously carries out texture laminating, comprises the steps of：

According to three dimensional information for capturing, the partial 3 d model of workpiece described in construction；

Calculate three dimensional information of the partial 3 d model；

Additional texture pattern obtains new partial 3 d model into three dimensional information；And

Delete the original partial 3 d model.

The laser marking on the fly method of 15. three-dimensional modelings immediately as claimed in claim 14, it is characterised in that The estimation path, comprises the steps of：

Calculate normal vector, initial sliding direction and the center point coordinates of the new partial 3 d model；

According to the normal vector, the initial sliding direction and the center point coordinates, institute is calculated State the profile of new partial 3 d model；And

Calculate tangent line rector of the profile in the center point coordinates.

The laser marking on the fly method of 16. three-dimensional modelings immediately as claimed in claim 14, it is characterised in that The estimation attitude, comprises the steps of：

Calculate the normal vector and center point coordinates of the new partial 3 d model；And

According to the opposite vector and the center point coordinates of the normal vector, the attitude is calculated.

The laser marking on the fly method of 17. three-dimensional modelings immediately as claimed in claim 13, it is characterised in that The threedimensional model of workpiece described in the construction and described to carry out laser marking on the fly to the workpiece be same Shi Jinhang.